/PROG  T2D_T1P
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 2542;
CREATE		= DATE 17-11-07  TIME 09:51:50;
MODIFIED	= DATE 24-11-26  TIME 17:13:28;
FILE_NAME	= T1D_T2P;
VERSION		= 0;
LINE_COUNT	= 69;
MEMORY_SIZE	= 3026;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  LBL[10] ;
   2:  UFRAME_NUM=0 ;
   3:  UTOOL_NUM=1 ;
   4:  TIMER[10]=RESET ;
   5:  TIMER[10]=START ;
   6:  IF DI[14]=ON OR DI[26]=ON,JMP LBL[90] ;
   7:   ;
   8:J P[1:CLEAR] 50% CNT50    ;
   9:J P[2:CLEAR] 50% CNT50    ;
  10:J P[3:CLEAR] 50% CNT50    ;
  11:J P[4:CLEAR] 50% CNT50    ;
  12:J P[23:CLEAR] 50% CNT100    ;
  13:J P[22:CLEAR] 50% CNT50    ;
  14:J P[21:APPROACH] 30% CNT50    ;
  15:J P[20:APPROACH] 30% CNT0    ;
  16:  WAIT DI[26]=OFF    ;
  17:L P[19:APPROACH] 200mm/sec FINE    ;
  18:L P[18:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  19:  DO[21]=ON ;
  20:  DO[13]=OFF ;
  21:  DO[14]=ON ;
  22:  WAIT DI[14]=ON    ;
  23:  WAIT   2.00(sec) ;
  24:L P[17:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=OFF    ;
  25:  WAIT DI[26]=ON    ;
  26:  DO[14]=OFF ;
  27:  IF DI[15]=ON,JMP LBL[67] ;
  28:  JMP LBL[68] ;
  29:  LBL[67] ;
  30:  PAUSE ;
  31:  WAIT DI[15]=OFF    ;
  32:  IF DI[15]=ON,JMP LBL[67] ;
  33:   ;
  34:  LBL[68] ;
  35:L P[16:APPROACH] 300mm/sec CNT50    ;
  36:J P[15:APPROACH] 30% CNT50    ;
  37:J P[14:CLEAR] 30% CNT50    ;
  38:J P[13:CLEAR] 50% CNT50    ;
  39:L P[11:APPROACH] 500mm/sec CNT50    ;
  40:  WAIT DI[25]=ON    ;
  41:L P[10:APPROACH] 300mm/sec FINE    ;
  42:  DO[14]=ON ;
  43:  WAIT DI[14]=ON    ;
  44:  WAIT    .50(sec) ;
  45:L P[9:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  46:  WAIT   1.00(sec) ;
  47:  DO[20]=ON ;
  48:  DO[14]=OFF ;
  49:  DO[13]=ON ;
  50:  WAIT DI[13]=ON    ;
  51:  WAIT   1.00(sec) ;
  52:L P[8:APPROACH] 100mm/sec CNT50 ACC50 DB    0.0mm,DO[20]=OFF    ;
  53:L P[7:APPROACH] 300mm/sec CNT50    ;
  54:L P[6:APPROACH] 1000mm/sec CNT50    ;
  55:J P[5:CLEAR] 30% CNT50    ;
  56:J P[4:CLEAR] 50% CNT50    ;
  57:J P[3:CLEAR] 50% CNT50    ;
  58:J P[2:CLEAR] 50% CNT50    ;
  59:J P[1:CLEAR] 50% CNT50    ;
  60:  MOVE TO HOME    ;
  61:  TIMER[10]=STOP ;
  62:  R[30]=TIMER[10]    ;
  63:  END ;
  64:   ;
  65:  LBL[90] ;
  66:  MESSAGE[ERROR: T1 DETECT OR NOT] ;
  67:  UALM[7] ;
  68:  JMP LBL[10] ;
  69:   ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[4:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[5:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   191.910 deg,	J2=   -71.372 deg,	J3=    76.975 deg,
	J4=    -1.629 deg,	J5=   -77.422 deg,	J6=  -101.295 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   159.391 deg,	J2=   -59.445 deg,	J3=    86.290 deg,
	J4=   -88.509 deg,	J5=  -111.319 deg,	J6=   -85.758 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2976.828  mm,	Y =   286.814  mm,	Z = -1566.617  mm,
	W =   -71.092 deg,	P =    89.654 deg,	R =  -160.365 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2978.565  mm,	Y =   100.491  mm,	Z = -1565.427  mm,
	W =   -71.032 deg,	P =    89.656 deg,	R =  -160.306 deg
};
P[9:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2978.563  mm,	Y =   100.491  mm,	Z = -1623.989  mm,
	W =   -70.987 deg,	P =    89.656 deg,	R =  -160.261 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2978.563  mm,	Y =   282.475  mm,	Z = -1623.988  mm,
	W =   -70.987 deg,	P =    89.656 deg,	R =  -160.261 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   164.180 deg,	J2=   -34.254 deg,	J3=    51.086 deg,
	J4=   -79.515 deg,	J5=  -102.881 deg,	J6=   -49.583 deg
};
P[13:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   162.091 deg,	J2=   -52.306 deg,	J3=    82.954 deg,
	J4=   -87.762 deg,	J5=  -108.531 deg,	J6=   -82.234 deg
};
P[14:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   192.429 deg,	J2=   -53.047 deg,	J3=    76.340 deg,
	J4=     1.554 deg,	J5=   -85.073 deg,	J6=   -25.164 deg
};
P[15:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   205.454 deg,	J2=   -34.173 deg,	J3=    73.489 deg,
	J4=    55.424 deg,	J5=  -103.759 deg,	J6=    14.347 deg
};
P[16:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2959.832  mm,	Y =  -833.189  mm,	Z = -1594.775  mm,
	W =   163.247 deg,	P =    89.664 deg,	R =  -106.130 deg
};
P[17:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.424  mm,	Y =  -814.807  mm,	Z = -1620.569  mm,
	W =   131.508 deg,	P =    89.485 deg,	R =  -137.850 deg
};
P[18:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.542  mm,	Y =  -673.709  mm,	Z = -1620.496  mm,
	W =   131.174 deg,	P =    89.483 deg,	R =  -138.184 deg
};
P[19:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -2970.541  mm,	Y =  -673.713  mm,	Z = -1548.555  mm,
	W =   131.174 deg,	P =    89.483 deg,	R =  -138.184 deg
};
P[20:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   206.609 deg,	J2=   -25.914 deg,	J3=    60.377 deg,
	J4=    76.354 deg,	J5=  -112.049 deg,	J6=    57.301 deg
};
P[21:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -36.249 deg,	J3=    71.238 deg,
	J4=    62.302 deg,	J5=  -102.895 deg,	J6=    54.156 deg
};
P[22:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   204.480 deg,	J2=   -50.537 deg,	J3=    71.238 deg,
	J4=    71.549 deg,	J5=  -102.895 deg,	J6=   -70.787 deg
};
P[23:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   186.358 deg,	J2=   -91.506 deg,	J3=    83.487 deg,
	J4=    77.924 deg,	J5=   -91.685 deg,	J6=   -87.490 deg
};
/END
